WO2017153583A1 - Method and apparatus for retrieving units from a storage system - Google Patents

Method and apparatus for retrieving units from a storage system Download PDF

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Publication number
WO2017153583A1
WO2017153583A1 PCT/EP2017/055697 EP2017055697W WO2017153583A1 WO 2017153583 A1 WO2017153583 A1 WO 2017153583A1 EP 2017055697 W EP2017055697 W EP 2017055697W WO 2017153583 A1 WO2017153583 A1 WO 2017153583A1
Authority
WO
WIPO (PCT)
Prior art keywords
handling device
load handling
wheels
rails
tracks
Prior art date
Application number
PCT/EP2017/055697
Other languages
English (en)
French (fr)
Inventor
Andrew John INGRAM-TEDD
Pawel KAROLINCZAK
Tom Berry
Original Assignee
Ocado Innovation Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=55859267&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2017153583(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority to DK17710519.4T priority Critical patent/DK3426576T4/da
Priority to ES17710519T priority patent/ES2841623T3/es
Priority to EP20191982.6A priority patent/EP3757038B1/en
Priority to US16/083,723 priority patent/US11273980B2/en
Priority to FIEP17710519.4T priority patent/FI3426576T4/fi
Priority to CN201780016442.7A priority patent/CN108778961B/zh
Priority to KR1020187028859A priority patent/KR102339611B1/ko
Priority to KR1020217032712A priority patent/KR102391107B1/ko
Priority to EP21201161.3A priority patent/EP3978393B1/en
Priority to PL17710519.4T priority patent/PL3426576T5/pl
Priority to CA3016753A priority patent/CA3016753A1/en
Priority to AU2017229536A priority patent/AU2017229536B2/en
Priority to JP2018547977A priority patent/JP6983798B2/ja
Priority to EP17710519.4A priority patent/EP3426576B2/en
Application filed by Ocado Innovation Limited filed Critical Ocado Innovation Limited
Publication of WO2017153583A1 publication Critical patent/WO2017153583A1/en
Priority to HRP20201868TT priority patent/HRP20201868T1/hr
Priority to US17/505,949 priority patent/US11858737B2/en
Priority to JP2021190165A priority patent/JP7342094B2/ja
Priority to AU2021290288A priority patent/AU2021290288A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0414—Storage devices mechanical using stacker cranes provided with satellite cars adapted to travel in storage racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0457—Storage devices mechanical with suspended load carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
PCT/EP2017/055697 2016-03-10 2017-03-10 Method and apparatus for retrieving units from a storage system WO2017153583A1 (en)

Priority Applications (18)

Application Number Priority Date Filing Date Title
EP21201161.3A EP3978393B1 (en) 2016-03-10 2017-03-10 Method and apparatus for retrieving units from a storage system
EP17710519.4A EP3426576B2 (en) 2016-03-10 2017-03-10 Method and apparatus for retrieving units from a storage system
EP20191982.6A EP3757038B1 (en) 2016-03-10 2017-03-10 Load handling device
US16/083,723 US11273980B2 (en) 2016-03-10 2017-03-10 Method and apparatus for retrieving units from a storage system
FIEP17710519.4T FI3426576T4 (fi) 2016-03-10 2017-03-10 Menetelmä ja laitteisto yksiköiden noutamiseksi varastojärjestelmästä
CN201780016442.7A CN108778961B (zh) 2016-03-10 2017-03-10 用于从存储系统提取单元的方法和装置
KR1020187028859A KR102339611B1 (ko) 2016-03-10 2017-03-10 보관 시스템으로부터 유닛을 취출하기 위한 방법 및 장치
CA3016753A CA3016753A1 (en) 2016-03-10 2017-03-10 Method and apparatus for retrieving units from a storage system
PL17710519.4T PL3426576T5 (pl) 2016-03-10 2017-03-10 Sposób i urządzenie do wydobywania jednostek z systemu magazynowego
DK17710519.4T DK3426576T4 (da) 2016-03-10 2017-03-10 Fremgangsmåde og indretning til hentning af enheder fra et lagersystem
KR1020217032712A KR102391107B1 (ko) 2016-03-10 2017-03-10 보관 시스템으로부터 유닛을 취출하기 위한 방법 및 장치
AU2017229536A AU2017229536B2 (en) 2016-03-10 2017-03-10 Method and apparatus for retrieving units from a storage system
JP2018547977A JP6983798B2 (ja) 2016-03-10 2017-03-10 保管システムからユニットを取り出すための方法及び装置
ES17710519T ES2841623T3 (es) 2016-03-10 2017-03-10 Método y aparato para recoger unidades de un sistema de almacenamiento
HRP20201868TT HRP20201868T1 (hr) 2016-03-10 2020-11-25 Postupak i uređaj za preuzimanje jedinica iz sustava za pohranu
US17/505,949 US11858737B2 (en) 2016-03-10 2021-10-20 Method and apparatus for retrieving units from a storage system
JP2021190165A JP7342094B2 (ja) 2016-03-10 2021-11-24 保管システムからユニットを取り出すための方法及び装置
AU2021290288A AU2021290288A1 (en) 2016-03-10 2021-12-22 Method and apparatus for retrieving units from a storage system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB1604100.6A GB201604100D0 (en) 2016-03-10 2016-03-10 Apparatus for retrieving units from a storage system
GB1604100.6 2016-03-10

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US16/083,723 A-371-Of-International US11273980B2 (en) 2016-03-10 2017-03-10 Method and apparatus for retrieving units from a storage system
US17/505,949 Continuation US11858737B2 (en) 2016-03-10 2021-10-20 Method and apparatus for retrieving units from a storage system

Publications (1)

Publication Number Publication Date
WO2017153583A1 true WO2017153583A1 (en) 2017-09-14

Family

ID=55859267

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/055697 WO2017153583A1 (en) 2016-03-10 2017-03-10 Method and apparatus for retrieving units from a storage system

Country Status (16)

Country Link
US (2) US11273980B2 (ko)
EP (3) EP3757038B1 (ko)
JP (2) JP6983798B2 (ko)
KR (2) KR102391107B1 (ko)
CN (2) CN113636250A (ko)
AU (2) AU2017229536B2 (ko)
CA (1) CA3016753A1 (ko)
DK (2) DK3757038T3 (ko)
ES (2) ES2952089T3 (ko)
FI (2) FI3757038T3 (ko)
GB (2) GB201604100D0 (ko)
HR (2) HRP20230810T1 (ko)
HU (2) HUE062376T2 (ko)
PL (2) PL3426576T5 (ko)
PT (2) PT3757038T (ko)
WO (1) WO2017153583A1 (ko)

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WO2019101366A1 (en) 2017-11-22 2019-05-31 Autostore Technology AS Multi bin vehicle for an automated storage and retrieval system comprising a three dimensional grid
WO2019137866A1 (en) * 2018-01-09 2019-07-18 Autostore Technology AS A displacement mechanism for a remotely operated vehicle
WO2019154467A1 (de) * 2018-02-07 2019-08-15 Gebhardt Foerdertechnik Gmbh Transportfahrzeug zur automatisierten bedienung eines warenlagers
WO2019206487A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container handling vehicle with first and second sections and lifting device motor in second section
WO2019206488A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container handling vehicle with first and second sections and larger wheel motors on two of the wheels in the second section
WO2019206439A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container handling vehicle with first and second sections with motor in second section
WO2019206440A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container handling vehicle with first and second sections and with battery in second section
AT16911U1 (de) * 2019-12-20 2020-11-15 Knapp Ag Fahrzeug zum Ein- und Auslagern von Produkten
EP3798156A1 (de) 2019-09-24 2021-03-31 Gebhardt Fördertechnik GmbH Transportfahrzeug sowie ein lager- und entnahmesystem für behälter
NO20200015A1 (en) * 2020-01-07 2021-07-08 Autostore Tech As A remotely operated vehicle for moving on a rail system
JP2021521072A (ja) * 2018-05-09 2021-08-26 オカド・イノベーション・リミテッド ロボット荷積み取り扱いデバイスを充電するための装置および方法
GB202112308D0 (en) 2021-08-27 2021-10-13 Ocado Innovation Ltd A cam mechanism for direction-change assembly of a load-handling device, and related methods and uses
GB2594563A (en) * 2020-03-04 2021-11-03 Ocado Innovation Ltd Automated storage systems, and devices
WO2021245162A1 (en) * 2020-06-02 2021-12-09 Ocado Innovation Limited Load-handling device
EP3929107A1 (de) 2020-06-24 2021-12-29 Gebhardt Fördertechnik GmbH Transportfahrzeug zum einsatz in einem lager- und entnahmesystem für behälter sowie ein lager- und entnahmesystem
WO2022034191A1 (en) * 2020-08-14 2022-02-17 Ocado Innovation Limited Track assembly for a storage system
GB202200951D0 (en) 2022-01-25 2022-03-09 Ocado Innovation Ltd Glue joint
AU2019246119B2 (en) * 2018-03-27 2022-03-10 Ocado Innovation Limited A transporting device
WO2022058550A1 (en) 2020-09-18 2022-03-24 Ocado Innovation Limited A load handling device
DE102020212343A1 (de) 2020-09-30 2022-03-31 Gebhardt Fördertechnik GmbH Lager- und Entnahmesystem für Behälter sowie zugehöriger Behälter
GB2600002A (en) * 2020-08-14 2022-04-20 Ocado Innovation Ltd A grid framework structure
US11479407B2 (en) 2018-01-09 2022-10-25 Autostore Technology AS Displacement mechanism for a remotely operated vehicle
WO2023061626A1 (de) * 2021-10-13 2023-04-20 Stöcklin Logistik Ag Regallagersystem mit einem dreidimensionalen regallager und mindestens einem fahrzeug zur einlagerung und auslagerung von ladungsträgern
NO347123B1 (en) * 2021-11-10 2023-05-22 Autostore Tech As A vehicle-portable grid assessment device
NO20220288A1 (en) * 2022-03-08 2023-09-11 Autostore Tech As Container handling vehicle
GB2616661A (en) * 2022-03-17 2023-09-20 Ocado Innovation Ltd Gripper
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WO2023217635A1 (en) * 2022-05-11 2023-11-16 Autostore Technology AS Container handling vehicle with all wheel drive in at least one direction, associated system and method of assembling
WO2024002887A1 (en) 2022-06-29 2024-01-04 Autostore Technology AS Container handling vehicle
WO2024008662A1 (en) 2022-07-04 2024-01-11 Ocado Innovation Limited A cable routing component
WO2024008754A1 (en) 2022-07-04 2024-01-11 Ocado Innovation Limited Apparatus for retrieving storage containers from a storage and retrieval system
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NO344464B1 (en) * 2017-10-19 2019-12-23 Autostore Tech As Vehicle for an automated storage and retrieval system and method of operating an automated storage and retrieval system
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NO347820B1 (en) * 2018-01-09 2024-04-08 Autostore Tech As Automated storage and retrieval system, a container handling vehicle which can operate on an automated storage and retrieval system and a method of operating an automated storage and retrieval system
NO344971B1 (en) * 2018-11-06 2020-08-03 Autostore Tech As Robot vehicle assembly with picking system
PL3887293T3 (pl) * 2018-11-28 2023-12-04 Autostore Technology AS Pojemnik magazynowy do zautomatyzowanego układu do przechowywania i pobierania
GB201903982D0 (en) * 2019-03-22 2019-05-08 Ocado Innovation Ltd Load-handling device
GB201906157D0 (en) * 2019-05-02 2019-06-19 Ocado Innovation Ltd An apparatus and method for imaging containers
NO347754B1 (en) * 2019-09-02 2024-03-18 Autostore Tech As Method, and associated system, of providing an operator access to a target storage position in an automated storage and retrieval system
NO345931B1 (en) * 2019-11-12 2021-11-01 Autostore Tech As Rescue system and methods for retrieving a malfunctioning vehicle from a rail system.
GB2594562B (en) * 2020-03-04 2023-01-04 Ocado Innovation Ltd Automated storage systems, and devices
KR102484915B1 (ko) * 2020-12-23 2023-01-09 (주)에이텍티앤 트레이 기반의 자동화 물류창고시스템
KR102484910B1 (ko) * 2020-12-23 2023-01-09 (주)에이텍티앤 이동라인 기반의 자동화 물류창고시스템
KR102522451B1 (ko) * 2020-12-23 2023-04-18 (주)에이텍모빌리티 자동화 물류창고시스템
CN113753455B (zh) * 2021-01-05 2023-09-26 北京京东乾石科技有限公司 存取车、存取系统、存取方法、控制器和存储介质
CN113021301B (zh) * 2021-04-20 2023-04-18 深圳市博洋精密科技有限公司 基于四轴机器人的网格状搬运系统
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